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And after a cagey start to the second-half, Rob Kearney's yellow card proved decisive as Ulster stretched their lead through two more Pienaar penalties, before Craig Gilroy's late try put the game to bed.
There could not have been a greater contrast in emotions on the final whistle; Leinster facing the very-real prospect of missing out on the GUINNESS PRO12 top four for the first time in 11 years, while Ulster leapfrogged Munster and Glasgow Warriors into top spot with their rivals due to play later today.
But Doak knows that with two games still to come, against Munster and Glasgow no less, the job is far from done.
"Given the way the conditions deteriorated with the heavy rain, and the fact we went 10-0 down early on, I think the boys played remarkably well," he said.
"It is obviously good to have secured the play-off spot and that comes down to taking it each game at a time and targeting what we need. One week it is European qualification, the next it is a top-four finish.
"The commitment of the players really impressed me given the way things had gone early on. The way we defended at the end was incredible and credit has to go to the players.
"But this was always going to be a tough run-in. We had Leinster and then we have Munster in a fortnight. We will take stock of tonight and take the positives and there are also some areas to work on as well.
"We will watch the Munster game and then we will prepare for them."
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Guinness PRO12 Ulster News
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